Simplify the sequencer table as per PR comment

DiamondLightSource · Aug 7, 2024 · 41a6bec · 41a6bec
1 parent fe546a8
commit 41a6bec
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Showing 2 changed files with 9 additions and 55 deletions.
diff --git a/src/hyperion/device_setup_plans/setup_panda.py b/src/hyperion/device_setup_plans/setup_panda.py
@@ -46,13 +46,11 @@ def _get_seq_table(
     SEQUENCER TABLE:
 
         1. Wait for physical trigger from motion script to mark start of scan / change of direction
-        2. Wait for POSA (X2) to be greater than X_START and send 1 trigger
-        3. Send out the remaining x_steps - 1 triggers every time_between_steps_ms
-        4. Wait for physical trigger from motion script to mark change of direction
-        5. Wait for POSA (X2) to be less than X_START + X_STEP_SIZE * x_steps + exposure distance, then
-            send 1 trigger
-        6. Send the remaining x_steps - 1 triggers every time_between_steps_ms
-        7. Go back to step one.
+        2. Wait for POSA (X2) to be greater than X_START and send x_steps triggers every time_between_steps_ms
+        3. Wait for physical trigger from motion script to mark change of direction
+        4. Wait for POSA (X2) to be less than X_START + X_STEP_SIZE * x_steps + exposure distance, then
+            send x_steps triggers every time_between_steps_ms
+        5. Go back to step one.
 
         For a more detailed explanation and a diagram, see https://github.com/DiamondLightSource/hyperion/wiki/PandA-constant%E2%80%90motion-scanning
 
@@ -92,6 +90,7 @@ def _get_seq_table(
 
     rows.append(
         SeqTableRow(
+            repeats=num_pulses,
             trigger=SeqTrigger.POSA_GT,
             position=start_of_grid_x_counts,
             time1=PULSE_WIDTH_US,
@@ -101,22 +100,12 @@ def _get_seq_table(
         )
     )
 
-    if num_pulses > 1:
-        rows.append(
-            SeqTableRow(
-                repeats=num_pulses - 1,  # account for previous 1 pulse at start
-                time1=PULSE_WIDTH_US,
-                outa1=True,
-                time2=delay_between_pulses - PULSE_WIDTH_US,
-                outa2=False,
-            )
-        )
-
     # -ve direction scan
     rows.append(SeqTableRow(trigger=SeqTrigger.BITA_1, time2=1))
 
     rows.append(
         SeqTableRow(
+            repeats=num_pulses,
             trigger=SeqTrigger.POSA_LT,
             position=end_of_grid_x_counts + exposure_distance_x_counts,
             time1=PULSE_WIDTH_US,
@@ -126,17 +115,6 @@ def _get_seq_table(
         )
     )
 
-    if num_pulses > 1:
-        rows.append(
-            SeqTableRow(
-                repeats=num_pulses - 1,  # account for previous 1 pulse at start
-                time1=PULSE_WIDTH_US,
-                outa1=True,
-                time2=delay_between_pulses - PULSE_WIDTH_US,
-                outa2=False,
-            )
-        )
-
     table = seq_table_from_rows(*rows)
 
     return table

diff --git a/tests/unit_tests/device_setup_plans/test_setup_panda.py b/tests/unit_tests/device_setup_plans/test_setup_panda.py
@@ -137,7 +137,7 @@ def test_setup_panda_correctly_configures_table(
     expected_seq_rows: list[SeqRow] = [
         SeqRow(1, SeqTrigger.BITA_1, 0, 0, 0, 1, 0),
         SeqRow(
-            1,
+            x_steps,
             SeqTrigger.POSA_GT,
             int(params.x_start * MM_TO_ENCODER_COUNTS),
             PULSE_WIDTH_US,
@@ -146,25 +146,13 @@ def test_setup_panda_correctly_configures_table(
             0,
         ),
     ]
-    if x_steps > 1:
-        expected_seq_rows.append(
-            SeqRow(
-                x_steps - 1,
-                SeqTrigger.IMMEDIATE,
-                0,
-                PULSE_WIDTH_US,
-                1,
-                SPACE_WIDTH_US,
-                0,
-            )
-        )
 
     exposure_distance_counts = exposure_distance_mm * MM_TO_ENCODER_COUNTS
     expected_seq_rows.extend(
         [
             SeqRow(1, SeqTrigger.BITA_1, 0, 0, 0, 1, 0),
             SeqRow(
-                1,
+                x_steps,
                 SeqTrigger.POSA_LT,
                 int(
                     (params.x_start + (params.x_steps - 1) * params.x_step_size)
@@ -178,18 +166,6 @@ def test_setup_panda_correctly_configures_table(
             ),
         ]
     )
-    if x_steps > 1:
-        expected_seq_rows.append(
-            SeqRow(
-                x_steps - 1,
-                SeqTrigger.IMMEDIATE,
-                0,
-                PULSE_WIDTH_US,
-                1,
-                SPACE_WIDTH_US,
-                0,
-            )
-        )
 
     for key in SeqRow._fields:
         np.testing.assert_array_equal(